船舶直线航迹控制的鲁棒自适应非线性设计

Robust adaptive nonlinear design for ship linear track-keeping control

针对船舶航迹控制非线性系统模型中存在的不确定性和外界干扰的影响,提出了一种鲁棒自适应控制算法.该算法将鲁棒干扰抑制技术融入自适应反演设计方法中,使得系统的输出和所得闭环系统全局一致最终有界,而且闭环系统的控制性能可以通过适当的选择设计参数而得到保证.另外,该算法还避免了控制器可能存在的奇异值问题.在计算机仿真研究中,以大连海事大学"育龙"号实习船为设计实例,验证了所提出的控制器的有效性.

A robust adaptive design scheme is proposed for ship straight-line track-keeping control system with parametric uncertainties and modeling uncertainties, as well as unknown bounded exogenous disturbances. By combining the backstepping method and the robust disturbance-attenuation technique, the algorithm is developed such that the resulting closed-loop system is GUUB (globally uniformly ultimately bounded) and the tracking error converges to a small neighborhood of the origin. Consequently, straight-path tracking control for an underactuated ship is achieved. Numerical simulation results are presented to validate the effectiveness of the proposed controller.